OpenRaiser/Intern-Atlas huggingface dataset:
CUCo: An Agentic Framework for Compute and Communication Co-design
Venue: arXiv cs.DC 2026
Year: 2026

Custom CUDA kernel development is essential for maximizing GPU utilization in large-scale distributed LLM training and inference, yet manually writing kernels that jointly leverage both computation and communication remains a labor-intensive and error-prone process. Prior work on kernel optimization has focused almost exclusively on computation, leaving communication kernels largely untouched even though they constitute a significant share of total execution time. We introduce CUCo, a training-free agent-driven workflow that automatically generates high-performance CUDA kernels that jointly orchestrate computation and communication. By co-optimizing these traditionally disjoint components, CUCo unlocks new optimization opportunities unavailable to existing approaches, outperforming state-of-the-art baselines and reducing end-to-end latency by up to $1.57\times$.
Advancing Earth Observation Through Machine Learning: A TorchGeo Tutorial
Venue: arXiv cs.CV 2026
Year: 2026

Earth observation machine learning pipelines differ fundamentally from standard computer vision workflows. Imagery is typically delivered as large, georeferenced scenes, labels may be raster masks or vector geometries in distinct coordinate reference systems, and both training and evaluation often require spatially aware sampling and splitting strategies. TorchGeo is a PyTorch-based domain library that provides datasets, samplers, transforms and pre-trained models with the goal of making it easy to use geospatial data in machine learning pipelines. In this paper, we introduce a tutorial that demonstrates 1.) the core TorchGeo abstractions through code examples, and 2.) an end-to-end case study on multispectral water segmentation from Sentinel-2 imagery using the Earth Surface Water dataset. This demonstrates how to train a semantic segmentation model using TorchGeo datasets, apply the model to a Sentinel-2 scene over Rio de Janeiro, Brazil, and save the resulting predictions as a GeoTIFF for further geospatial analysis. The tutorial code itself is distributed as two Python notebooks: https://torchgeo.readthedocs.io/en/stable/tutorials/torchgeo.html and https://torchgeo.readthedocs.io/en/stable/tutorials/earth_surface_water.html.
OpenMarcie: Dataset for Multimodal Action Recognition in Industrial Environments
Venue: arXiv cs.CV 2026
Year: 2026

Smart factories use advanced technologies to optimize production and increase efficiency. To this end, the recognition of worker activity allows for accurate quantification of performance metrics, improving efficiency holistically while contributing to worker safety. OpenMarcie is, to the best of our knowledge, the biggest multimodal dataset designed for human action monitoring in manufacturing environments. It includes data from wearables sensing modalities and cameras distributed in the surroundings. The dataset is structured around two experimental settings, involving a total of 36 participants. In the first setting, twelve participants perform a bicycle assembly and disassembly task under semi-realistic conditions without a fixed protocol, promoting divergent and goal-oriented problem-solving. The second experiment involves twenty-five volunteers (24 valid data) engaged in a 3D printer assembly task, with the 3D printer manufacturer's instructions provided to guide the volunteers in acquiring procedural knowledge. This setting also includes sequential collaborative assembly, where participants assess and correct each other's progress, reflecting real-world manufacturing dynamics. OpenMarcie includes over 37 hours of egocentric and exocentric, multimodal, and multipositional data, featuring eight distinct data types and more than 200 independent information channels. The dataset is benchmarked across three human activity recognition tasks: activity classification, open vocabulary captioning, and cross-modal alignment.
Learning to Pay Attention: Unsupervised Modeling of Attentive and Inattentive Respondents in Survey Data
Venue: arXiv cs.HC 2026
Year: 2026

The integrity of behavioral and social-science surveys depends on detecting inattentive respondents who provide random or low-effort answers. Traditional safeguards, such as attention checks, are often costly, reactive, and inconsistent. We propose a unified, label-free framework for inattentiveness detection that scores response coherence using complementary unsupervised views: geometric reconstruction (Autoencoders) and probabilistic dependency modeling (Chow-Liu trees). While we introduce a "Percentile Loss" objective to improve Autoencoder robustness against anomalies, our primary contribution is identifying the structural conditions that enable unsupervised quality control. Across nine heterogeneous real-world datasets, we find that detection effectiveness is driven less by model complexity than by survey structure: instruments with coherent, overlapping item batteries exhibit strong covariance patterns that allow even linear models to reliably separate attentive from inattentive respondents. This reveals a critical ``Psychometric-ML Alignment'': the same design principles that maximize measurement reliability (e.g., internal consistency) also maximize algorithmic detectability. The framework provides survey platforms with a scalable, domain-agnostic diagnostic tool that links data quality directly to instrument design, enabling auditing without additional respondent burden.
Using the SEKF to Transfer NN Models of Dynamical Systems with Limited Data
Venue: arXiv cs.LG 2026
Year: 2026

Data-driven models of dynamical systems require extensive amounts of training data. For many practical applications, gathering sufficient data is not feasible due to cost or safety concerns. This work uses the Subset Extended Kalman Filter (SEKF) to adapt pre-trained neural network models to new, similar systems with limited data available. Experimental validation across damped spring and continuous stirred-tank reactor systems demonstrates that small parameter perturbations to the initial model capture target system dynamics while requiring as little as 1% of original training data. In addition, finetuning requires less computational cost and reduces generalization error.
Spectral Regularization for Diffusion Models
Venue: arXiv cs.LG 2026
Year: 2026

Diffusion models are typically trained using pointwise reconstruction objectives that are agnostic to the spectral and multi-scale structure of natural signals. We propose a loss-level spectral regularization framework that augments standard diffusion training with differentiable Fourier- and wavelet-domain losses, without modifying the diffusion process, model architecture, or sampling procedure. The proposed regularizers act as soft inductive biases that encourage appropriate frequency balance and coherent multi-scale structure in generated samples. Our approach is compatible with DDPM, DDIM, and EDM formulations and introduces negligible computational overhead. Experiments on image and audio generation demonstrate consistent improvements in sample quality, with the largest gains observed on higher-resolution, unconditional datasets where fine-scale structure is most challenging to model.
Composable Attestation: A Generalized Framework for Continuous and Incremental Trust in AI-Driven Distributed Systems
Venue: arXiv cs.CR 2026
Year: 2026

This paper presents composable attestation as a generalized cryptographic framework for Continuous and Incremental Trust in Distributed Systems,such as Artificial Intelligence (AI) computation, and Open Source Software (OSS) supply chain verification. We establish a rigorous mathematical foundation which is defining core properties of such attestation systems: composability, order independence, transitivity, determinism, inclusion, and dynamic component verification. In contrast to traditional attestation methodologies relying on monolithic verification, composable attestation facilitates modular, scalable, and cryptographically secured integrity verification adaptable to evolving system configurations. This work introduces generalized attestation proof generation and verification functions, implementable via a variety of cryptographic constructions, in which Merkle trees plays vital role in constructing the composable attestation proof. Alternative constructions, including accumulator-based schemes and multi-signature approaches, are also explored, each presenting distinct trade-offs in performance, security, and functionality. Formal analysis demonstrates the adherence of these implementations to the fundamental properties . The framework's utility extends to applications such as secure AI model integrity verification , federated learning, and runtime trust assurance. The concept of attestation inclusion is introduced, permitting incremental integration of new components without necessitating full system re-attestation. This generalized approach reinforce trust in AI computation and broader distributed computing environments through cryptographically verifiable proof mechanisms, building upon foundational concepts of bootstrapping trust.
Learning Therapist Policy from Therapist-Exoskeleton-Patient Interaction
Venue: arXiv cs.RO 2026
Year: 2026

Post-stroke rehabilitation is often necessary for patients to regain proper walking gait. However, the typical therapy process can be exhausting and physically demanding for therapists, potentially reducing therapy intensity, duration, and consistency over time. We propose a Patient-Therapist Force Field (PTFF) to visualize therapist responses to patient kinematics and a Synthetic Therapist (ST) machine learning model to support the therapist in dyadic robot-mediated physical interaction therapy. The first encodes patient and therapist stride kinematics into a shared low-dimensional latent manifold using a Variational Autoencoder (VAE) and models their interaction through a Gaussian Mixture Model (GMM), which learns a probabilistic vector field mapping patient latent states to therapist responses. This representation visualizes patient-therapist interaction dynamics to inform therapy strategies and robot controller design. The latter is implemented as a Long Short-Term Memory (LSTM) network trained on patient-therapist interaction data to predict therapist-applied joint torques from patient kinematics. Trained and validated using leave-one-out cross-validation across eight post-stroke patients, the model was integrated into a ROS-based exoskeleton controller to generate real-time torque assistance based on predicted therapist responses. Offline results and preliminary testing indicate the potential of their use as an alternative approach to post-stroke exoskeleton therapy. The PTFF provides understanding of the therapist's actions while the ST frees the human therapist from the exoskeleton, allowing them to continuously monitor the patient's nuanced condition.
The Perceptual Gap: Why We Need Accessible XAI for Assistive Technologies
Venue: arXiv cs.HC 2026
Year: 2026

Artificial intelligence systems are widely used by people with sensory disabilities, like loss of vision or hearing, to help perceive or navigate the world around them. This includes tasks like describing an image or object they cannot touch, reading documents, automatically captioning speech, and so on. Presently, models used for these tasks are based on deep neural networks and are thusly black boxes. Explainable AI (XAI) describes methods that can explain why a model gave the output it did. However, existing XAI methodologies are rarely accessible or designed with disabled users in mind. In this paper, we survey existing work in XAI with a focus on human-centered and accessibility-centered approaches or evaluations. We show that there is next-to-no XAI work that accounts for people with sensory disabilities, that many typical explanations are difficult for them to comprehend, and propose possible avenues for future work in Accessible Human-Centered XAI.
Learning-Augmented Moment Estimation on Time-Decay Models
Venue: arXiv cs.DS 2026
Year: 2026

Motivated by the prevalence and success of machine learning, a line of recent work has studied learning-augmented algorithms in the streaming model. These results have shown that for natural and practical oracles implemented with machine learning models, we can obtain streaming algorithms with improved space efficiency that are otherwise provably impossible. On the other hand, our understanding is much more limited when items are weighted unequally, for example, in the sliding-window model, where older data must be expunged from the dataset, e.g., by privacy regulation laws. In this paper, we utilize an oracle for the heavy-hitters of datasets to give learning-augmented algorithms for a number of fundamental problems, such as norm/moment estimation, frequency estimation, cascaded norms, and rectangular moment estimation, in the time-decay setting. We complement our theoretical results with a number of empirical evaluations that demonstrate the practical efficiency of our algorithms on real and synthetic datasets.
WTHaar-Net: a Hybrid Quantum-Classical Approach
Venue: arXiv cs.CV 2026
Year: 2026

Convolutional neural networks rely on linear filtering operations that can be reformulated efficiently in suitable transform domains. At the same time, advances in quantum computing have shown that certain structured linear transforms can be implemented with shallow quantum circuits, opening the door to hybrid quantum-classical approaches for enhancing deep learning models. In this work, we introduce WTHaar-Net, a convolutional neural network that replaces the Hadamard Transform used in prior hybrid architectures with the Haar Wavelet Transform (HWT). Unlike the Hadamard Transform, the Haar transform provides spatially localized, multi-resolution representations that align more closely with the inductive biases of vision tasks. We show that the HWT admits a quantum realization using structured Hadamard gates, enabling its decomposition into unitary operations suitable for quantum circuits. Experiments on CIFAR-10 and Tiny-ImageNet demonstrate that WTHaar-Net achieves substantial parameter reduction while maintaining competitive accuracy. On Tiny-ImageNet, our approach outperforms both ResNet and Hadamard-based baselines. We validate the quantum implementation on IBM Quantum cloud hardware, demonstrating compatibility with near-term quantum devices.
Improving Low-Vision Chart Accessibility via On-Cursor Visual Context
Venue: arXiv cs.HC 2026
Year: 2026

Despite widespread use, charts remain largely inaccessible for Low-Vision Individuals (LVI). Reading charts requires viewing data points within a global context, which is difficult for LVI who may rely on magnification or experience a partial field of vision. We aim to improve exploration by providing visual access to critical context. To inform this, we conducted a formative study with five LVI. We identified four fundamental contextual elements common across chart types: axes, legend, grid lines, and the overview. We propose two pointer-based interaction methods to provide this context: Dynamic Context, a novel focus+context interaction, and Mini-map, which adapts overview+detail principles for LVI. In a study with N=22 LVI, we compared both methods and evaluated their integration to current tools. Our results show that Dynamic Context had significant positive impact on access, usability, and effort reduction; however, worsened visual load. Mini-map strengthened spatial understanding, but was less preferred for this task. We offer design insights to guide the development of future systems that support LVI with visual context while balancing visual load.
Thermodynamic Regulation of Finite-Time Gibbs Training in Energy-Based Models: A Restricted Boltzmann Machine Study
Venue: arXiv cs.LG 2026
Year: 2026

Restricted Boltzmann Machines (RBMs) are typically trained using finite-length Gibbs chains under a fixed sampling temperature. This practice implicitly assumes that the stochastic regime remains valid as the energy landscape evolves during learning. We argue that this assumption can become structurally fragile under finite-time training dynamics. This fragility arises because, in nonconvex energy-based models, fixed-temperature finite-time training can generate admissible trajectories with effective-field amplification and conductance collapse. As a result, the Gibbs sampler may asymptotically freeze, the negative phase may localize, and, without sufficiently strong regularization, parameters may exhibit deterministic linear drift. To address this instability, we introduce an endogenous thermodynamic regulation framework in which temperature evolves as a dynamical state variable coupled to measurable sampling statistics. Under standard local Lipschitz conditions and a two-time-scale separation regime, we establish global parameter boundedness under strictly positive L2 regularization. We further prove local exponential stability of the thermodynamic subsystem and show that the regulated regime mitigates inverse-temperature blow-up and freezing-induced degeneracy within a forward-invariant neighborhood. Experiments on MNIST demonstrate that the proposed self-regulated RBM substantially improves normalization stability and effective sample size relative to fixed-temperature baselines, while preserving reconstruction performance. Overall, the results reinterpret RBM training as a controlled non-equilibrium dynamical process rather than a static equilibrium approximation.
Bridging Diffusion Guidance and Anderson Acceleration via Hopfield Dynamics
Venue: arXiv cs.LG 2026
Year: 2026

Classifier-Free Guidance (CFG) has significantly enhanced the generative quality of diffusion models by extrapolating between conditional and unconditional outputs. However, its high inference cost and limited applicability to distilled or single-step models have shifted research focus toward attention-space extrapolation. While these methods offer computational efficiency, their theoretical underpinnings remain elusive. In this work, we establish a foundational framework for attention-space extrapolation by modeling attention dynamics as fixed-point iterations within Modern Hopfield Networks. We demonstrate that the extrapolation effect in attention space constitutes a special case of Anderson Acceleration applied to these dynamics. Building on this insight and the weak contraction property, we propose Geometry Aware Attention Guidance (GAG). By decomposing attention updates into parallel and orthogonal components relative to the guidance direction, GAG stabilizes the acceleration process and maximizes guidance efficiency. Our plug-and-play method seamlessly integrates with existing frameworks while significantly improving generation quality.
Functional Properties of the Focal-Entropy
Venue: arXiv cs.IT 2026
Year: 2026

The focal-loss has become a widely used alternative to cross-entropy in class-imbalanced classification problems, particularly in computer vision. Despite its empirical success, a systematic information-theoretic study of the focal-loss remains incomplete. In this work, we adopt a distributional viewpoint and study the focal-entropy, a focal-loss analogue of the cross-entropy. Our analysis establishes conditions for finiteness, convexity, and continuity of the focal-entropy, and provides various asymptotic characterizations. We prove the existence and uniqueness of the focal-entropy minimizer, describe its structure, and show that it can depart significantly from the data distribution. In particular, we rigorously show that the focal-loss amplifies mid-range probabilities, suppresses high-probability outcomes, and, under extreme class imbalance, induces an over-suppression regime in which very small probabilities are further diminished. These results, which are also experimentally validated, offer a theoretical foundation for understanding the focal-loss and clarify the trade-offs that it introduces when applied to imbalanced learning tasks.
PathSpace: Rapid continuous map approximation for efficient SLAM using B-Splines in constrained environments
Venue: arXiv cs.RO 2026
Year: 2026

Simultaneous Localization and Mapping (SLAM) plays a crucial role in enabling autonomous vehicles to navigate previously unknown environments. Semantic SLAM mostly extends visual SLAM, leveraging the higher density information available to reason about the environment in a more human-like manner. This allows for better decision making by exploiting prior structural knowledge of the environment, usually in the form of labels. Current semantic SLAM techniques still mostly rely on a dense geometric representation of the environment, limiting their ability to apply constraints based on context. We propose PathSpace, a novel semantic SLAM framework that uses continuous B-splines to represent the environment in a compact manner, while also maintaining and reasoning through the continuous probability density functions required for probabilistic reasoning. This system applies the multiple strengths of B-splines in the context of SLAM to interpolate and fit otherwise discrete sparse environments. We test this framework in the context of autonomous racing, where we exploit pre-specified track characteristics to produce significantly reduced representations at comparable levels of accuracy to traditional landmark based methods and demonstrate its potential in limiting the resources used by a system with minimal accuracy loss.
ForestPersons: A Large-Scale Dataset for Under-Canopy Missing Person Detection
Venue: arXiv cs.CV 2026
Year: 2026

Detecting missing persons in forest environments remains a challenge, as dense canopy cover often conceals individuals from detection in top-down or oblique aerial imagery typically captured by Unmanned Aerial Vehicles (UAVs). While UAVs are effective for covering large, inaccessible areas, their aerial perspectives often miss critical visual cues beneath the forest canopy. This limitation underscores the need for under-canopy perspectives better suited for detecting missing persons in such environments. To address this gap, we introduce ForestPersons, a novel large-scale dataset specifically designed for under-canopy person detection. ForestPersons contains 96,482 images and 204,078 annotations collected under diverse environmental and temporal conditions. Each annotation includes a bounding box, pose, and visibility label for occlusion-aware analysis. ForestPersons provides ground-level and low-altitude perspectives that closely reflect the visual conditions encountered by Micro Aerial Vehicles (MAVs) during forest Search and Rescue (SAR) missions. Our baseline evaluations reveal that standard object detection models, trained on prior large-scale object detection datasets or SAR-oriented datasets, show limited performance on ForestPersons. This indicates that prior benchmarks are not well aligned with the challenges of missing person detection under the forest canopy. We offer this benchmark to support advanced person detection capabilities in real-world SAR scenarios. The dataset is publicly available at https://huggingface.co/datasets/etri/ForestPersons.